package altosui;
-import java.lang.*;
import java.io.*;
-import java.text.*;
import java.util.*;
+import org.altusmetrum.altoslib_1.*;
public class AltosCSV implements AltosWriter {
File name;
boolean header_written;
boolean seen_boost;
int boost_tick;
- LinkedList<AltosRecord> pad_records;
+ LinkedList<AltosState> pad_states;
AltosState state;
- static final int ALTOS_CSV_VERSION = 4;
+ static final int ALTOS_CSV_VERSION = 5;
/* Version 4 format:
*
* drogue (V)
* main (V)
*
+ * Advanced sensors (if available)
+ * accel_x (m/s²)
+ * accel_y (m/s²)
+ * accel_z (m/s²)
+ * gyro_x (d/s)
+ * gyro_y (d/s)
+ * gyro_z (d/s)
+ * mag_x (g)
+ * mag_y (g)
+ * mag_z (g)
+ *
* GPS data (if available)
* connected (1/0)
* locked (1/0)
out.printf("version,serial,flight,call,time,clock,rssi,lqi");
}
- void write_general(AltosRecord record) {
+ void write_general(AltosState state) {
out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
- ALTOS_CSV_VERSION, record.serial, record.flight, record.callsign,
- (double) record.time, (double) record.tick / 100.0,
- record.rssi,
- record.status & 0x7f);
+ ALTOS_CSV_VERSION, state.serial, state.flight, state.callsign,
+ (double) state.time, (double) state.tick / 100.0,
+ state.rssi,
+ state.status & 0x7f);
}
void write_flight_header() {
out.printf("state,state_name");
}
- void write_flight(AltosRecord record) {
- out.printf("%d,%8s", record.state, record.state());
+ void write_flight(AltosState state) {
+ out.printf("%d,%8s", state.state, state.state_name());
}
void write_basic_header() {
out.printf("acceleration,pressure,altitude,height,accel_speed,baro_speed,temperature,battery_voltage,drogue_voltage,main_voltage");
}
- void write_basic(AltosRecord record) {
+ void write_basic(AltosState state) {
out.printf("%8.2f,%10.2f,%8.2f,%8.2f,%8.2f,%8.2f,%5.1f,%5.2f,%5.2f,%5.2f",
- record.acceleration(),
- record.raw_pressure(),
- record.raw_altitude(),
- record.raw_height(),
- record.accel_speed(),
- state.baro_speed,
- record.temperature(),
- record.battery_voltage(),
- record.drogue_voltage(),
- record.main_voltage());
+ state.acceleration,
+ state.pressure,
+ state.altitude,
+ state.height,
+ state.speed,
+ state.speed,
+ state.temperature,
+ state.battery_voltage,
+ state.apogee_voltage,
+ state.main_voltage);
+ }
+
+ void write_advanced_header() {
+ out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
+ }
+
+ void write_advanced(AltosState state) {
+ AltosIMU imu = state.imu;
+ AltosMag mag = state.mag;
+
+ if (imu == null)
+ imu = new AltosIMU();
+ if (mag == null)
+ mag = new AltosMag();
+ out.printf("%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d,%6d",
+ imu.accel_x, imu.accel_y, imu.accel_z,
+ imu.gyro_x, imu.gyro_y, imu.gyro_z,
+ mag.x, mag.y, mag.z);
}
void write_gps_header() {
out.printf("connected,locked,nsat,latitude,longitude,altitude,year,month,day,hour,minute,second,pad_dist,pad_range,pad_az,pad_el,hdop");
}
- void write_gps(AltosRecord record) {
- AltosGPS gps = record.gps;
+ void write_gps(AltosState state) {
+ AltosGPS gps = state.gps;
if (gps == null)
gps = new AltosGPS();
if (from_pad == null)
from_pad = new AltosGreatCircle();
- out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%6d,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f",
+ out.printf("%2d,%2d,%3d,%12.7f,%12.7f,%8.1f,%5d,%3d,%3d,%3d,%3d,%3d,%9.0f,%9.0f,%4.0f,%4.0f,%6.1f",
gps.connected?1:0,
gps.locked?1:0,
gps.nsat,
}
}
- void write_gps_sat(AltosRecord record) {
- AltosGPS gps = record.gps;
+ void write_gps_sat(AltosState state) {
+ AltosGPS gps = state.gps;
for(int i = 1; i <= 32; i++) {
int c_n0 = 0;
if (gps != null && gps.cc_gps_sat != null) {
out.printf(",companion_%02d", i);
}
- void write_companion(AltosRecord record) {
- AltosRecordCompanion companion = record.companion;
+ void write_companion(AltosState state) {
+ AltosRecordCompanion companion = state.companion;
int channels_written = 0;
if (companion == null) {
out.printf(",0");
}
- void write_header(boolean gps, boolean companion) {
+ void write_header(boolean advanced, boolean gps, boolean companion) {
out.printf("#"); write_general_header();
out.printf(","); write_flight_header();
out.printf(","); write_basic_header();
+ if (advanced)
+ out.printf(","); write_advanced_header();
if (gps) {
out.printf(","); write_gps_header();
out.printf(","); write_gps_sat_header();
out.printf ("\n");
}
- void write_one(AltosRecord record) {
- state = new AltosState(record, state);
- write_general(record); out.printf(",");
- write_flight(record); out.printf(",");
- write_basic(record);
- if (record.gps != null) {
+ void write_one(AltosState state) {
+ write_general(state); out.printf(",");
+ write_flight(state); out.printf(",");
+ write_basic(state); out.printf(",");
+ if (state.imu != null || state.mag != null)
+ write_advanced(state);
+ if (state.gps != null) {
out.printf(",");
- write_gps(record); out.printf(",");
- write_gps_sat(record);
+ write_gps(state); out.printf(",");
+ write_gps_sat(state);
}
- if (record.companion != null) {
+ if (state.companion != null) {
out.printf(",");
- write_companion(record);
+ write_companion(state);
}
out.printf ("\n");
}
void flush_pad() {
- while (!pad_records.isEmpty()) {
- write_one (pad_records.remove());
+ while (!pad_states.isEmpty()) {
+ write_one (pad_states.remove());
}
}
- public void write(AltosRecord record) {
- if (record.state == Altos.ao_flight_startup)
+ public void write(AltosState state) {
+ if (state.state == Altos.ao_flight_startup)
return;
if (!header_written) {
- write_header(record.gps != null, record.companion != null);
+ write_header(state.imu != null || state.mag != null,
+ state.gps != null, state.companion != null);
header_written = true;
}
if (!seen_boost) {
- if (record.state >= Altos.ao_flight_boost) {
+ if (state.state >= Altos.ao_flight_boost) {
seen_boost = true;
- boost_tick = record.tick;
+ boost_tick = state.tick;
flush_pad();
}
}
if (seen_boost)
- write_one(record);
+ write_one(state);
else
- pad_records.add(record);
+ pad_states.add(state);
}
public PrintStream out() {
}
public void close() {
- if (!pad_records.isEmpty()) {
- boost_tick = pad_records.element().tick;
+ if (!pad_states.isEmpty()) {
+ boost_tick = pad_states.element().tick;
flush_pad();
}
out.close();
}
- public void write(AltosRecordIterable iterable) {
- iterable.write_comments(out());
- for (AltosRecord r : iterable)
- write(r);
+ public void write(AltosStateIterable states) {
+ states.write_comments(out());
+ for (AltosState state : states)
+ write(state);
}
public AltosCSV(PrintStream in_out, File in_name) {
name = in_name;
out = in_out;
- pad_records = new LinkedList<AltosRecord>();
+ pad_states = new LinkedList<AltosState>();
}
public AltosCSV(File in_name) throws FileNotFoundException {
projects / fw / altos / blobdiff